#include <arduino_interface.hpp>

Inheritance diagram for ArduinoInterface:

Public Member Functions
	ArduinoInterface (std::string dev_port)
	The arduino hardware interface. Each arduino connected to your computer needs its own instance of this class. The Serial number is the manner by which we differentiate between arduino devices.
std::string	getID ()
bool	initialize ()
ssize_t	read (int device_address, interface_protocol protocol, int frequency, int flags, uint8_t reg_address, uint8_t data, size_t num_bytes)
bool	supportedProtocol (interface_protocol protocol)
	Returns true if the input protocol is supported by the hardware interface.
ssize_t	write (int device_address, interface_protocol protocol, int frequency, int flags, uint8_t reg_address, uint8_t data, size_t num_bytes)
	~ArduinoInterface ()
	destructor
Private Member Functions
ssize_t	arduinoAdcRead (uint8_t pin, uint8_t *data)
ssize_t	arduinoAdcWrite (uint8_t *voltage)
ssize_t	arduinoEncoderRead (int pin, uint8_t data)
ssize_t	arduinoEncoderWrite (int flags, uint8_t data)
ssize_t	arduinoGpioRead (uint8_t flags, uint8_t pin, uint8_t *value)
ssize_t	arduinoGpioWrite (uint8_t pin, bool value)
ssize_t	arduinoI2cRead (uint8_t device_address, uint32_t frequency, uint8_t reg_address, uint8_t *data, size_t num_bytes)
ssize_t	arduinoI2cWrite (uint8_t device_address, uint32_t frequency, uint8_t reg_address, uint8_t *data, size_t num_bytes)
ssize_t	arduinoPwmWrite (uint32_t frequency, uint8_t reg_address, uint8_t data)
ssize_t	arduinoSpiRead (uint8_t frequency, uint8_t flags, uint8_t reg_address, uint8_t *data, size_t num_bytes)
ssize_t	arduinoSpiWrite (uint8_t frequency, uint8_t flags, uint8_t reg_address, uint8_t *data, size_t num_bytes)
bool	waitOnBytes (int num_bytes)
Private Attributes
uint16_t	_reference_voltage
	stores the selected reference voltage for the ADC in milli volts [mV]
int	baud_rate_
	Baud rate at which the serial communication takes place.
bool	connection_failure_
uint8_t	data_packet_
	Contains used protocol and whether or not a read or write command is about to be requested.
int	file_descriptor_
	The file descriptor that handles serial communications.
bool	is_initialized_
	True if hardware has already been initialized to prevent re-opening the serial port.
std::string	port_name_
uniserial *	serial_port_
	Serial port where the Arduino can be found.
double	timeout_
	The time to wait (in seconds) for acknowledgement of a serial command by the Arduino.

Detailed Description

Definition at line 53 of file arduino_interface.hpp.

Constructor & Destructor Documentation

ArduinoInterface::ArduinoInterface ( std::string dev_port )

The arduino hardware interface. Each arduino connected to your computer needs its own instance of this class. The Serial number is the manner by which we differentiate between arduino devices.

An instance of this class will relay information from the program to the Arduino and vice versa. Specifically: inputs: communication protocol (only when first initializing a sub20_interface.) address, read or write command to the sensor outputs: raw data (in bytes) from the sensor. constructor

Parameters:

std::string dev_port the name of the port from the /dev directory.

Definition at line 44 of file arduino_interface.cpp.

ArduinoInterface::~ArduinoInterface ( )

destructor

Definition at line 61 of file arduino_interface.cpp.

Member Function Documentation

ssize_t ArduinoInterface::arduinoAdcRead	(	uint8_t	pin,
		uint8_t *	data
	)		`[private]`

Definition at line 813 of file arduino_interface.cpp.

ssize_t ArduinoInterface::arduinoAdcWrite ( uint8_t * voltage ) [private]

Definition at line 888 of file arduino_interface.cpp.

ssize_t ArduinoInterface::arduinoEncoderRead	(	int *	pin,
		uint8_t *	data
	)		`[private]`

Definition at line 664 of file arduino_interface.cpp.

ssize_t ArduinoInterface::arduinoEncoderWrite	(	int *	flags,
		uint8_t *	data
	)		`[private]`

Definition at line 699 of file arduino_interface.cpp.

ssize_t ArduinoInterface::arduinoGpioRead	(	uint8_t	flags,
		uint8_t	pin,
		uint8_t *	value
	)		`[private]`

Definition at line 583 of file arduino_interface.cpp.

ssize_t ArduinoInterface::arduinoGpioWrite	(	uint8_t	pin,
		bool	value
	)		`[private]`

Definition at line 529 of file arduino_interface.cpp.

ssize_t ArduinoInterface::arduinoI2cRead	(	uint8_t	device_address,
		uint32_t	frequency,
		uint8_t	reg_address,
		uint8_t *	data,
		size_t	num_bytes
	)		`[private]`

Definition at line 419 of file arduino_interface.cpp.

ssize_t ArduinoInterface::arduinoI2cWrite	(	uint8_t	device_address,
		uint32_t	frequency,
		uint8_t	reg_address,
		uint8_t *	data,
		size_t	num_bytes
	)		`[private]`

Definition at line 284 of file arduino_interface.cpp.

ssize_t ArduinoInterface::arduinoPwmWrite	(	uint32_t	frequency,
		uint8_t	reg_address,
		uint8_t	data
	)		`[private]`

Definition at line 476 of file arduino_interface.cpp.

ssize_t ArduinoInterface::arduinoSpiRead	(	uint8_t	frequency,
		uint8_t	flags,
		uint8_t	reg_address,
		uint8_t *	data,
		size_t	num_bytes
	)		`[private]`

Definition at line 379 of file arduino_interface.cpp.

ssize_t ArduinoInterface::arduinoSpiWrite	(	uint8_t	frequency,
		uint8_t	flags,
		uint8_t	reg_address,
		uint8_t *	data,
		size_t	num_bytes
	)		`[private]`

Definition at line 340 of file arduino_interface.cpp.

std::string ArduinoInterface::getID ( ) [virtual]

Returns:: the way the sensor identifies itself

Implements bosch_drivers_common::bosch_hardware_interface.

Definition at line 251 of file arduino_interface.cpp.

bool ArduinoInterface::initialize ( ) [virtual]

Implements bosch_drivers_common::bosch_hardware_interface.

Definition at line 70 of file arduino_interface.cpp.

ssize_t ArduinoInterface::read	(	int	device_address,
		interface_protocol	protocol,
		int	frequency,
		int *	flags,
		uint8_t	reg_address,
		uint8_t *	data,
		size_t	num_bytes
	)

Definition at line 104 of file arduino_interface.cpp.

bool ArduinoInterface::supportedProtocol ( interface_protocol protocol )

Returns true if the input protocol is supported by the hardware interface.

Parameters:

interface_protocol protocol the input protocol.

Returns:: true, if the hardware interface supports reading and writing on that particular protocol.

Definition at line 224 of file arduino_interface.cpp.

bool ArduinoInterface::waitOnBytes ( int num_bytes ) [private]

Definition at line 260 of file arduino_interface.cpp.

ssize_t ArduinoInterface::write	(	int	device_address,
		interface_protocol	protocol,
		int	frequency,
		int *	flags,
		uint8_t	reg_address,
		uint8_t *	data,
		size_t	num_bytes
	)

Definition at line 160 of file arduino_interface.cpp.

Member Data Documentation

uint16_t ArduinoInterface::_reference_voltage [private]

stores the selected reference voltage for the ADC in milli volts [mV]

Definition at line 190 of file arduino_interface.hpp.

int ArduinoInterface::baud_rate_ [private]

Baud rate at which the serial communication takes place.

Warning:: This value should not be changed after it is set in the constructor.If it is changed, however, it must also be redefined in the Arduino sketch.

Definition at line 160 of file arduino_interface.hpp.

bool ArduinoInterface::connection_failure_ [private]

Definition at line 162 of file arduino_interface.hpp.

uint8_t ArduinoInterface::data_packet_ [private]

Contains used protocol and whether or not a read or write command is about to be requested.

This information allows the Arduino to prepare to send the following data according to the input parameters of data_packet_ . The read/write flag is saved in the lowest bit while the upper 7 bits are reserved for the used protocol

Definition at line 185 of file arduino_interface.hpp.

int ArduinoInterface::file_descriptor_ [private]

The file descriptor that handles serial communications.

Definition at line 151 of file arduino_interface.hpp.

bool ArduinoInterface::is_initialized_ [private]

True if hardware has already been initialized to prevent re-opening the serial port.

Definition at line 174 of file arduino_interface.hpp.

std::string ArduinoInterface::port_name_ [private]

Definition at line 146 of file arduino_interface.hpp.

uniserial* ArduinoInterface::serial_port_ [private]

Serial port where the Arduino can be found.

This is the serial port that the particular Arduino uses to communicate with the computer.